​LPub4 is a program by Kevin Clague for creating high-quality instructions for Lego models. It runs on OS/X and Windows. And now with a few patches, it runs on Linux (tested on Fedora 11) as well.

There still seem to be some issues with rendering. There are two rendering options: ​LDView and ​ldglite. LDView 4.0.1 segfaults under Linux and the latest from CVS does not build under Linux; I have not dug deeply into the issues there. ldglite requires a wrapper script​ to scale some of the values LPub passes it to get the model to render. Just configure LPub to call the wrapper script instead of ldglite directly.